diff --git a/resources/robots/h1_2/README.md b/resources/robots/h1_2/README.md
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+# Unitree H1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+
+ 
+
+
+Unitree H1 have 51 DOFs:
+
+```text
+root [⚓] => /pelvis/
+ left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
+ left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
+ left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
+ left_knee_joint [⚙+Y] => /left_knee_link/
+ left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
+ left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
+ right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
+ right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
+ right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
+ right_knee_joint [⚙+Y] => /right_knee_link/
+ right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
+ right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
+ torso_joint [⚙+Z] => /torso_link/
+ left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
+ left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
+ left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
+ left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
+ left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
+ left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
+ left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
+ L_base_link_joint [⚓] => /L_hand_base_link/
+ L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
+ L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
+ L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
+ L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
+ L_index_proximal_joint [⚙-Z] => /L_index_proximal/
+ L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
+ L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
+ L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
+ L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
+ L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
+ L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
+ L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
+ right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
+ right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
+ right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
+ right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
+ right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
+ right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
+ right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
+ R_base_link_joint [⚓] => /R_hand_base_link/
+ R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
+ R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
+ R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
+ R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
+ R_index_proximal_joint [⚙+Z] => /R_index_proximal/
+ R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
+ R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
+ R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
+ R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
+ R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
+ R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
+ R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
+```
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+ ```bash
+ pip install mujoco
+ python -m mujoco.viewer
+ ```
+
+2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
diff --git a/resources/robots/h1_2/h1_2.png b/resources/robots/h1_2/h1_2.png
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diff --git a/resources/robots/h1_2/h1_2.urdf b/resources/robots/h1_2/h1_2.urdf
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\ No newline at end of file
diff --git a/resources/robots/h1_2/h1_2.xml b/resources/robots/h1_2/h1_2.xml
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diff --git a/resources/robots/h1_2/h1_2_simplified.urdf b/resources/robots/h1_2/h1_2_simplified.urdf
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diff --git a/resources/robots/h1_2/meshes/L_hand_base_link.STL b/resources/robots/h1_2/meshes/L_hand_base_link.STL
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diff --git a/resources/robots/h1_2/meshes/R_hand_base_link.STL b/resources/robots/h1_2/meshes/R_hand_base_link.STL
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diff --git a/resources/robots/h1_2/meshes/left_ankle_A_link.STL b/resources/robots/h1_2/meshes/left_ankle_A_link.STL
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diff --git a/resources/robots/h1_2/meshes/left_ankle_A_rod_link.STL b/resources/robots/h1_2/meshes/left_ankle_A_rod_link.STL
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diff --git a/resources/robots/h1_2/meshes/left_ankle_B_link.STL b/resources/robots/h1_2/meshes/left_ankle_B_link.STL
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